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atenpas / gpd

Detect 6-DOF grasp poses in point clouds
BSD 2-Clause "Simplified" License
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the frame_id of "GraspConfigList" is empty when using CloudIndexed as input #99

Closed xibeisiber closed 4 years ago

xibeisiber commented 4 years ago

Hi, I try to feed into gpd with CloudIndexed. It can give grasp pose but in the message of "/detect_grasps/clustered_grasps", the frame_id of header is empty. I checked the input CloudIndexed generated by tutorial2, the pointcloud in the this message has frame_id, but somehow it can't be passed into the "/detect_grasps/clustered_grasps". See screenshot here.

There is no such problem when feeding the PointCloud2 into gpd.

xibeisiber commented 4 years ago

sovled by adding "cloud_cameraheader =msg.cloud_sources.cloud.header;" to line 197 in file src/nodes/grasp_detection_node.cpp